{
 "cells": [
  {
   "cell_type": "markdown",
   "source": [
    "## Алгоритм перемещения робота по потенциальному полю"
   ],
   "metadata": {
    "collapsed": false
   }
  },
  {
   "cell_type": "markdown",
   "source": [
    "#### Импорты"
   ],
   "metadata": {
    "collapsed": false
   }
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import os\n",
    "\n",
    "import numpy as np\n",
    "import matplotlib.pyplot as plt\n",
    "\n",
    "from robobase.potensialfield import GradientBasedPlanner\n",
    "from src.support import loadMatrix"
   ]
  },
  {
   "cell_type": "markdown",
   "source": [
    "#### Входные параметры"
   ],
   "metadata": {
    "collapsed": false
   }
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "outputs": [],
   "source": [
    "start = [350, 50]\n",
    "goal = [50, 400]\n",
    "f = loadMatrix(os.getcwd() + \"\\\\data\\\\f.txt\")"
   ],
   "metadata": {
    "collapsed": false,
    "pycharm": {
     "name": "#%%\n"
    }
   }
  },
  {
   "cell_type": "markdown",
   "source": [
    "#### Построение маршрута"
   ],
   "metadata": {
    "collapsed": false
   }
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "outputs": [],
   "source": [
    "route = GradientBasedPlanner(f, start, goal, 1000)"
   ],
   "metadata": {
    "collapsed": false,
    "pycharm": {
     "name": "#%%\n"
    }
   }
  },
  {
   "cell_type": "markdown",
   "source": [
    "#### Отображение матрицы потенциалов и перемещения робота"
   ],
   "metadata": {
    "collapsed": false
   }
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "outputs": [
    {
     "data": {
      "text/plain": "<Figure size 432x288 with 1 Axes>",
      "image/png": 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\n"
     },
     "metadata": {
      "needs_background": "light"
     },
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.matshow(f)\n",
    "plt.scatter(start[1], start[0], s=50, color='black')\n",
    "plt.scatter(goal[1], goal[0], s=50, color='white')\n",
    "plt.plot(np.array(route)[:, 1], np.array(route)[:, 0], color='r')\n",
    "plt.show()\n",
    "\n"
   ],
   "metadata": {
    "collapsed": false,
    "pycharm": {
     "name": "#%%\n"
    }
   }
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 3",
   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.6"
  }
 },
 "nbformat": 4,
 "nbformat_minor": 0
}